EP3912768A4 - ROUTE GENERATOR, ROUTE GENERATING METHOD AND ROUTE GENERATING PROGRAM - Google Patents

ROUTE GENERATOR, ROUTE GENERATING METHOD AND ROUTE GENERATING PROGRAM Download PDF

Info

Publication number
EP3912768A4
EP3912768A4 EP19910467.0A EP19910467A EP3912768A4 EP 3912768 A4 EP3912768 A4 EP 3912768A4 EP 19910467 A EP19910467 A EP 19910467A EP 3912768 A4 EP3912768 A4 EP 3912768A4
Authority
EP
European Patent Office
Prior art keywords
route
generator
route generating
program
generating method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19910467.0A
Other languages
German (de)
French (fr)
Other versions
EP3912768A1 (en
Inventor
Norikazu Tonogai
Haruka Fujii
Takeshi Kojima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omron Corp
Original Assignee
Omron Corp
Omron Tateisi Electronics Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Omron Corp, Omron Tateisi Electronics Co filed Critical Omron Corp
Publication of EP3912768A1 publication Critical patent/EP3912768A1/en
Publication of EP3912768A4 publication Critical patent/EP3912768A4/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP19910467.0A 2019-01-15 2019-11-27 ROUTE GENERATOR, ROUTE GENERATING METHOD AND ROUTE GENERATING PROGRAM Pending EP3912768A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019004311A JP7147571B2 (en) 2019-01-15 2019-01-15 Route generation device, route generation method, and route generation program
PCT/JP2019/046326 WO2020149021A1 (en) 2019-01-15 2019-11-27 Route generator, route generation method, and route generation program

Publications (2)

Publication Number Publication Date
EP3912768A1 EP3912768A1 (en) 2021-11-24
EP3912768A4 true EP3912768A4 (en) 2022-09-28

Family

ID=71614212

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19910467.0A Pending EP3912768A4 (en) 2019-01-15 2019-11-27 ROUTE GENERATOR, ROUTE GENERATING METHOD AND ROUTE GENERATING PROGRAM

Country Status (5)

Country Link
US (1) US12090666B2 (en)
EP (1) EP3912768A4 (en)
JP (1) JP7147571B2 (en)
CN (1) CN112672857B (en)
WO (1) WO2020149021A1 (en)

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WO2020161910A1 (en) * 2019-02-08 2020-08-13 日本電気株式会社 Control device, control method, and recording medium
TWI873149B (en) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 Motion planning system and method for multiple robots in shared workspace
WO2022119934A1 (en) * 2020-12-02 2022-06-09 Realtime Robotics, Inc. Systems, methods, and user interfaces employing clearance determinations in robot motion planning and control
JP7637564B2 (en) * 2021-05-27 2025-02-28 株式会社ジャノメ Route teaching data creation device, route teaching data creation method, and program
CN113448667B (en) * 2021-06-09 2023-08-01 绿盟科技集团股份有限公司 Method and device for generating display relationship diagram
CN113568435B (en) * 2021-09-24 2021-12-24 深圳火眼智能有限公司 Unmanned aerial vehicle autonomous flight situation perception trend based analysis method and system
CN118715492A (en) * 2022-02-25 2024-09-27 三菱电机株式会社 Teaching assistance device, operating system, teaching assistance method and teaching assistance program
CN114952863B (en) * 2022-06-30 2025-09-19 中船黄埔文冲船舶有限公司 Obstacle avoidance control method and device for middle-assembly segmented weld robot
US12600035B2 (en) 2022-07-05 2026-04-14 Canon Kabushiki Kaisha Information processing method, information processing apparatus, robot system, manufacturing method of product, and storage medium
JP7831219B2 (en) 2022-10-06 2026-03-17 株式会社デンソー Interference detection device and path generation device
CN116038688B (en) * 2022-11-14 2024-12-20 上海理工大学 Mechanical arm joint space path planning method based on probability virtual potential field guided bidirectional RRT algorithm
WO2026003551A1 (en) * 2024-06-24 2026-01-02 Abb Schweiz Ag System and method for dynamically assigning collision clearance distances for motion of a robot

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US20180235565A1 (en) * 2014-02-05 2018-08-23 Intuitive Surgical Operations, Inc. System and method for dynamic virtual collision objects

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US20180236657A1 (en) * 2017-02-21 2018-08-23 Kabushiki Kaisha Yaskawa Denki Robot simulator, robot system and simulation method

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See also references of WO2020149021A1 *

Also Published As

Publication number Publication date
US12090666B2 (en) 2024-09-17
US20210260763A1 (en) 2021-08-26
WO2020149021A1 (en) 2020-07-23
EP3912768A1 (en) 2021-11-24
CN112672857B (en) 2025-02-07
JP7147571B2 (en) 2022-10-05
JP2020110885A (en) 2020-07-27
CN112672857A (en) 2021-04-16

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